U.S. patent application number 16/054182 was filed with the patent office on 2020-02-06 for sensing and control of liquid application using an agricultural machine.
The applicant listed for this patent is Deere & Company. Invention is credited to Kenneth HERRMANN, Gerrit PRUESSMANN, Michael C. STEELE, Kilian WOLFF, Grant J. WONDERLICH.
Application Number | 20200037519 16/054182 |
Document ID | / |
Family ID | 69227903 |
Filed Date | 2020-02-06 |
United States Patent
Application |
20200037519 |
Kind Code |
A1 |
WONDERLICH; Grant J. ; et
al. |
February 6, 2020 |
SENSING AND CONTROL OF LIQUID APPLICATION USING AN AGRICULTURAL
MACHINE
Abstract
An agricultural machine applies liquid material to a field.
Valve control signals control valves to apply the liquid material.
Row pressure on the agricultural machine is sensed to identify when
the valve is opened to apply the liquid material. The valve control
signals are generated, based on the row pressure, to control the
valves to apply the liquid material at a desired location in the
field, relative to plant locations in the field.
Inventors: |
WONDERLICH; Grant J.;
(Milan, IL) ; HERRMANN; Kenneth; (Port Byron,
IL) ; STEELE; Michael C.; (Orion, IL) ; WOLFF;
Kilian; (Kaiserslautern, DE) ; PRUESSMANN;
Gerrit; (Kaiserslautern, DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Deere & Company |
Moline |
IL |
US |
|
|
Family ID: |
69227903 |
Appl. No.: |
16/054182 |
Filed: |
August 3, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B05B 12/085 20130101;
A01G 25/165 20130101; A01C 23/007 20130101; B05B 12/008 20130101;
B05B 9/06 20130101; B05B 9/0423 20130101; B05B 15/50 20180201; A01C
7/06 20130101; B05B 1/08 20130101 |
International
Class: |
A01G 25/16 20060101
A01G025/16; B05B 12/08 20060101 B05B012/08; B05B 1/08 20060101
B05B001/08; B05B 9/04 20060101 B05B009/04; B05B 9/06 20060101
B05B009/06 |
Claims
1. An agricultural machine, comprising: a liquid reservoir that
stores liquid to be applied to a field over which the agricultural
machine is traveling; a supply line that defines a supply conduit;
a plurality of valves disposed along the supply line, each valve
having an inlet end and an outlet end and being controlled to move
between an open position and a closed position by a pulsed control
signal; a pump system that pumps the liquid from the liquid
reservoir along the supply line to the inlet ends of the valves; a
plurality of nozzles, at least one nozzle corresponding to each
valve so that when the corresponding valve is open, the liquid
flows through the valve to the corresponding nozzle; a plurality of
row pressure sensors each sensing pressure at the outlet end of one
of the plurality of valves and generating a corresponding row
pressure signal indicative of the sensed pressure; pulse
characteristic sensing logic that receives the row pressure signal
from each row pressure sensor and identifies a pulse characteristic
indicative of a liquid pulse provided by the corresponding valve in
the open position and generates a valve pulse characteristic signal
indicative of the pulse characteristic; and a pulsed valve control
signal generator that generates the pulsed control signal based on
the valve pulse characteristic signal.
2. The agricultural machine of claim 1 and further comprising: time
delay logic configured to receive the pulsed control signal and the
valve pulse characteristic signal and identify an open time delay
between the pulsed control signal generating a valve open signal
controlling the valve to open and the valve pulse characteristic
signal indicating that the valve is in the open position.
3. The agricultural machine of claim 2 wherein the time delay logic
is configured to receive the pulsed control signal and the valve
pulse characteristic signal and identify a close time delay between
the pulsed control signal generating a valve close signal
controlling the valve to close and the valve pulse characteristic
signal indicating that the valve is in the closed position.
4. The agricultural machine of claim 3 and further comprising:
seed/chemical correlation logic configured to identify plant
location in the field and control timing of the pulsed control
signal based on the identified plant location.
5. The agricultural machine of claim 4 wherein the seed/chemical
correlation logic comprises: a valve control signal generator
configured to generate a pulse control signal to control a timing
characteristic of the pulsed control signal based on the plant
locations in the field over which the agricultural machine is
traveling, the open time delay and the close time delay.
6. The agricultural machine of claim 4 wherein the seed/chemical
correlation logic comprises: a pulse frequency controller
configured to generate a pulse frequency control signal to control
a frequency of the pulsed control signal based on the plant
locations in the field over which the agricultural machine is
traveling, the open time delay and the close time delay.
7. The agricultural machine of claim 4 wherein the seed/chemical
correlation logic comprises: a pulse duration controller configured
to generate a pulse duration control signal to control a pulse
duration of the pulsed control signal based on the plant locations
in the field over which the agricultural machine is traveling, the
open time delay and the close time delay.
8. The agricultural machine of claim 5 wherein the seed/chemical
correlation logic is configured to correlate the pulsed control
signal with the plant locations to apply the liquid material
between the plant locations.
9. The agricultural machine of claim 5 wherein the seed/chemical
correlation logic is configured to synchronize the pulsed control
signal with the plant locations to apply the liquid material at the
plant locations.
10. The agricultural machine of claim 9 and further comprising:
valve row flowrate identifier logic configured to identify a valve
row flowrate for each valve based on a valve orifice size and the
row pressure signal from the corresponding row pressure sensor.
11. The agricultural machine of claim 10 wherein the seed/chemical
correlation logic is configured to synchronize the pulsed control
signal with the plant locations to apply a desired amount of the
liquid material based on the valve flow rate.
12. The agricultural machine of claim 10 wherein the seed/chemical
correlation logic is configured to generate a pump control signal
to control liquid pressure based on a travel speed of the
agricultural machine to apply a desired amount of the liquid
material.
13. The agricultural machine of claim 1 and further comprising: a
supply line pressure sensor configured to identify pressure in the
supply conduit and generate a supply line pressure signal
indicative of the sensed pressure in the supply conduit; and row
pressure identifying logic configured to identify a pressure drop
across a given valve based on the row pressure signal and the
supply line pressure signal.
14. The agricultural machine of claim 13 wherein the supply line
pressure sensor comprises: a plurality of supply line pressure
sensors, the row pressure identifying logic identifying the
pressure drop across the given valve based on the row pressure
sensor signal and a supply line pressure signal generated from a
closest one of the supply line pressure sensors to the row pressure
sensor.
15. The agricultural machine of claim 13 and further comprising: a
valve blockage detector configured to identify a valve blockage
condition for the given valve based on the pressure drop across the
given valve.
16. The agricultural machine of claim 4 and further comprising: a
seed sensor configured to sense seed presence during a planting
operation and generate a seed signal indicative of the sensed seed
presence.
17. The agricultural machine of claim 16 wherein the seed/chemical
correlation logic comprises: a seed location identifier configured
to identify the plant location in the field based on the seed
signal.
18. The agricultural machine of claim 16 wherein the seed/chemical
correlation logic comprises: a seed pattern identifier configured
to identify a seeding pattern indicative of the plant location
based on the seed signal.
19. An agricultural machine, comprising: a liquid reservoir that
stores liquid to be applied to a field over which the agricultural
machine is traveling; a supply line that defines a supply conduit;
a plurality of valves disposed along the supply line, each valve
having an inlet end and an outlet end and being controlled to move
between an open position and a closed position by a pulsed control
signal; a pump system that pumps the liquid from the liquid
reservoir along the supply line to the inlet ends of the valves; a
plurality of nozzles, at least one nozzle corresponding to each
valve so that when the corresponding valve is open, the liquid
flows through the valve to the corresponding nozzle; a plurality of
row pressure sensors each sensing pressure at the outlet end of one
of the plurality of valves and generating a corresponding row
pressure signal indicative of the sensed pressure; seed/chemical
correlation logic configured to identify plant locations in the
field and correlate the pulsed control signal with the plant
locations to apply a desired amount of the liquid material based on
the row pressure signals and the plant locations.
20. A method of controlling an agricultural machine, comprising:
pumping liquid from a liquid reservoir along a supply line, that
forms a supply conduit, to inlet ends of a plurality of valves
disposed along the supply line; controlling the plurality of valves
to move between an open position, in which the valves provide the
liquid to a corresponding nozzle, and a closed position using a
pulsed control signal, to apply the liquid to a field over which
the agricultural machine is traveling; sensing pressure at the
outlet end of each of the plurality of valves; generating a
corresponding row pressure signal indicative of the sensed
pressure; identifying a pulse characteristic indicative of a
characteristic of a liquid pulse generated by the corresponding
valve being in the open position, based on the row pressure signal;
generating a valve pulse characteristic signal indicative of the
pulse characteristic; and generating the pulsed control signal
based on the valve pulse characteristic signal.
Description
FIELD OF THE DESCRIPTION
[0001] The present description relates to agricultural machines.
More specifically, the present description relates to controlling
liquid application using an agricultural machine.
BACKGROUND
[0002] There is a wide variety of different types of agricultural
machines. Some agricultural machines are used to apply a liquid
substance to a field. These agricultural machines can include, for
instance, planters that have row units, sprayers, tillage equipment
with sidedress bars, air seeders, etc.
[0003] A row unit is often mounted on a planter with a plurality of
other row units. The planter is often towed by a tractor over soil
where seed is planted in the soil, using the row units. The row
units on the planter follow the ground profile by using a
combination of a downforce assembly that imparts a downforce on the
row unit to push disc openers into the ground and gauge wheels to
set depth of penetration of the disc openers.
[0004] Row units can also be used to apply liquid material to the
field over which they are traveling. In some scenarios, each row
unit has a pulse-controlled valve (such as a valve controlled using
a pulse width modulated signal) that is coupled between a pump
(that pumps liquid from a source of liquid material), and an
application assembly. As the valve is pulsed, the valve is moved
between an open position and a closed position so liquid passes
through the valve, from the source to the application assembly, and
is applied to the field. Other row units may have valves that need
not be pulse controlled.
[0005] An agricultural sprayer often includes a tank or reservoir
that holds a substance to be sprayed on an agricultural field. The
sprayer includes a boom that is fitted with one or more nozzles
that are used to spray the substance on the field. A pump pumps the
substance from the reservoir, along the boom, to the nozzles. As
the sprayer travels through the field, the boom is disposed in a
deployed position and the substance is pumped from the tank or
reservoir, through the nozzles, so that it is sprayed or applied to
the field over which the sprayer is traveling. As with row units,
the nozzles can have corresponding valves that are controlled by a
pulsed control signal (such as a pulse width modulated signal). As
the control signal pulses, the valve is moved between an opened
position and a closed position. When in the open position, liquid
passes through the valve, so that it can be applied to the field.
Other sprayers may have valves that are not operated by a pulse
control signal.
[0006] These are just two examples of agricultural machines that
can be used to apply a liquid material to a field. Others can be
used as well.
[0007] The discussion above is merely provided for general
background information and is not intended to be used as an aid in
determining the scope of the claimed subject matter.
SUMMARY
[0008] An agricultural machine applies liquid material to a field.
Valve control signals control valves to apply the liquid material.
Row pressure on the agricultural machine is sensed to identify when
the valve is opened to apply the liquid material. The valve control
signals are generated, based on the row pressure, to control the
valves to apply the liquid material.
[0009] This Summary is provided to introduce a selection of
concepts in a simplified form that are further described below in
the Detailed Description. This Summary is not intended to identify
key features or essential features of the claimed subject matter,
nor is it intended to be used as an aid in determining the scope of
the claimed subject matter. The claimed subject matter is not
limited to implementations that solve any or all disadvantages
noted in the background.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] FIG. 1 is a top view of one example of a planting
machine.
[0011] FIG. 2 shows a side view of one example of a row unit of the
planting machine illustrated in FIG. 1.
[0012] FIG. 3 shows a pictorial view of a self-propelled
sprayer.
[0013] FIG. 4 is a block diagram of one example of a portion of the
sprayer shown in FIG. 3.
[0014] FIG. 5 is a block diagram of one example of a valve control
system.
[0015] FIGS. 6A and 6B (collectively referred to herein as FIG. 6)
show a flow diagram illustrating one example of the operation of
the valve control system.
[0016] FIG. 7 is a flow diagram showing one example of the
operation of seed/chemical synchronization logic.
[0017] FIG. 8 shows an example of a machine in a remote server
architecture.
[0018] FIG. 9 is a block diagram showing one example of a computing
environment that can be used in the architectures shown in the
previous FIGS.
DETAILED DESCRIPTION
[0019] The present description proceeds with respect to two
different examples of agricultural machines that apply a liquid
substance to a field. The first is a planter and the second is a
sprayer. These are examples only, and it will be appreciated that
the present discussion could just as easily apply to other
agricultural machines.
[0020] FIG. 1 is a top view of one example of an agricultural
planting machine 100. Machine 100 is a row crop planting machine
that illustratively includes a toolbar 102 that is part of a frame
104. FIG. 1 also shows that a plurality of planting row units 106
are mounted to the toolbar 102. Machine 100 can be towed behind
another machine, such as a tractor. FIG. 1 shows that liquid
material can be stored in a tank 107 and pumped to valves 109
through a supply line 111. In one example, a valve control system
113 controls valves 109. In one example, system 113 controls valves
109 using a pulse width modulated control signal, although they can
be controlled with a non-pulsed control signal as well. When they
are pulsed, the flow rate through valve 109 is based on the duty
cycle of the control signal (which controls the amount of time the
valves are open and closed). The valves 109 are connected to an
application assembly that applies liquid to the field.
[0021] FIG. 1 also shows that in one example, planter 100 includes
a flow meter 131 that senses flow of fluid from tank 107 through
the supply line 111. Where planter 100 has a liquid return line
that returns liquid to tank 107 from supply line 111, then it can
also have a return flow meter 135 that senses the flow of liquid
returned to tank 107. The difference between the flow sensed by
flow meter 131 (exiting tank 107 into supply line 111) and the flow
sensed by meter 135 (returning to tank 107 from supply line 111) is
indicative of the flow of liquid applied through nozzles 109.
[0022] Planter 100 also illustratively includes a pressure sensor
133 that senses pressure in supply line 111. It can have multiple
pressure sensors mounted to sense pressure at different locations
along supply line 111 as well. Flow meter 131 illustratively
generates a boom flow signal indicative of the fluid flow (such as
mass flow rate) through supply line 111 and provides that signal to
valve control system 113. Flow meter 135 generates a return flow
signal and provides that signal to valve control system 113 as
well. Pressure sensor 133 illustratively generates a supply line
pressure signal indicative of the pressure in supply line 111, and
provides that signal to valve control system 113. Where there are
multiple pressure sensors along supply line 111, they each generate
a different supply line pressure signal and supply it to system
113. As is discussed in greater detail below, those signals can be
used to identify an operational characteristic of the valves 109
and/or corresponding application assemblies (such as whether they
are clogged or partially clogged, the flow rate through them during
operation, the duration of the pulses, flow volume, etc.). They can
also be used in controlling certain portions of planter 110.
[0023] FIG. 2 is a side view showing one example of a row unit 106,
with valve 109 and system 113 shown as well, in more detail. Row
unit 106 illustratively includes a chemical tank 110 and a seed
storage tank 112. It also illustratively includes a disc opener
114, a set of gauge wheels 116, and a set of closing wheels 118.
Seeds from tank 112 are fed by gravity into a seed meter 124. The
seed meter controls the rate at which seeds are dropped into a seed
tube 120 or other seed delivery system, such as a brush belt, from
seed storage tank 112. The seeds can be sensed by a seed sensor
122, which generates a seed signal 123 indicative of a speed
passing through seed tube 120. Signal 123 can be provided to
pulsing valve control system 113.
[0024] In the example shown in FIG. 2, liquid material is pumped
through supply line 111 to an inlet end of valve 109. Valve 109 is
controlled by control system 113 to open and close to allow the
liquid to pass from the inlet end of valve 109 to an outlet end.
System 113 can use a pulse width modulated signal to control the
flow rate through valve 109, but this is just one example and other
control signals can be used to control valves 109.
[0025] As liquid passes through valve 109, it travels through an
application assembly 115 from a proximal end (which is attached to
an outlet end of valve 109) to a distal tip (or application tip)
117, where the liquid is discharged into a trench, or proximate a
trench, opened by disc opener 142 (as is described in more detail
below).
[0026] Before describing the operation of row unit 106 and valve
control system 113 in more detail, a brief overview of some parts
of row unit 106 and their operation, will first be discussed.
First, it will be noted that there are different types of seed
meters, and the one that is shown is shown for the sake of example
only. For instance, in one example, each row unit 106 need not have
its own seed meter. Instead, metering or other singulation or seed
dividing techniques can be performed at a central location, for
groups of row units 106. The metering systems can include rotatable
discs, rotatable concave or bowl-shaped devices, among others. The
seed delivery system can be a gravity drop system (such as that
shown in FIG. 2) in which seeds are dropped through the seed tube
120 and fall (via gravitational force) through the seed tube into
the seed trench. Other types of seed delivery systems are assistive
systems, in that they do not simply rely on gravity to move the
seed from the metering system into the ground. Instead, such
systems actively capture the seeds from the seed meter and
physically move the seeds from the meter to a lower opening, where
they exit into the ground or trench.
[0027] A downforce actuator 126 is mounted on a coupling assembly
128 that couples row unit 106 to toolbar 102. Actuator 126 can be a
hydraulic actuator, a pneumatic actuator, a spring-based mechanical
actuator or a wide variety of other actuators. In the example shown
in FIG. 2, a rod 130 is coupled to a parallel linkage 132 and is
used to exert an additional downforce (in the direction indicated
by arrow 134) on row unit 106. The total downforce (which includes
the force indicated by arrow 134 exerted by actuator 126, plus the
force due to gravity acting on row unit 106, and indicated by arrow
136) is offset by upwardly directed forces acting on closing wheels
118 (from ground 138 and indicated by arrow 140) and double disc
opener 114 (again from ground 138 and indicated by arrow 142). The
remaining force (the sum of the force vectors indicated by arrows
134 and 136, minus the force indicated by arrows 140 and 142) and
the force on any other ground engaging component on the row unit
(not shown), is the differential force indicated by arrow 146. The
differential force may also be referred to herein as the downforce
margin. The force indicated by arrow 146 acts on the gauge wheels
116. This load can be sensed by a gauge wheel load sensor which may
be located anywhere on row unit 106 where it can sense that load.
It can also be placed where it may not sense the load directly, but
a characteristic indicative of that load. Both sensing the load
directly or indirectly are contemplated herein and will be referred
to as sensing a force characteristic indicative of that load (or
force). For example, it can be disposed near a set of gauge wheel
control arms (or gauge wheel arm) 148 that movably mount gauge
wheels 116 to shank 152 and control an offset between gauge wheels
116 and the discs in double disc opener 114, to control planting
depth. Arms (or gauge wheel arms) 148 illustratively abut against a
mechanical stop (or arm contact member-or wedge) 150. The position
of mechanical stop 150 relative to shank 152 can be set by a
planting depth actuator assembly 154. Control arms 148
illustratively pivot around pivot point 156 so that, as planting
depth actuator assembly 154 actuates to change the position of
mechanical stop 150, the relative position of gauge wheels 116,
relative to the double disc opener 114, changes, to change the
depth at which seeds are planted. This is described in greater
detail below.
[0028] In operation, row unit 106 travels generally in the
direction indicated by arrow 160. The double disc opener 114 opens
a furrow in the soil 138, and the depth of the furrow 162 is set by
planting depth actuator assembly 154, which, itself, controls the
offset between the lowest parts of gauge wheels 116 and disc opener
114. As discussed above, seeds are metered or singulated by a
metering system (e.g., seed meter 124) and positioned in a furrow
by the seed delivery system. Where the seed delivery system is a
gravity drop system, the seeds are dropped through seed tube 120,
into the furrow 162 and closing wheels 118 close the soil. Where
the seed delivery system is an assistive system, the seed is
positioned in, or captured by, the assistive system and moved to a
location proximate the furrow 162 where it is deposited or placed
in the furrow 162. System 113 controls valve 109 to apply a liquid
through application assembly 114 to the field over which row unit
106 is traveling. The liquid can be applied in, or proximate,
furrow 162.
[0029] There may be seed sensors in both the seed metering system
and the seed delivery system. In another example, there may be a
seed sensor only in the seed metering system, or only in the
delivery system, or elsewhere. In the example illustrated in FIG.
2, only seed sensor 122 is shown, and it is shown mounted to seed
tube 120 so that it detects seeds passing through seed tube 120. A
seed sensor on the seed metering system may sense the presence or
absence of seeds in the seed metering system. The seed sensors are
illustratively coupled to their corresponding systems (the seed
metering system and/or seed delivery system) to sense an operating
characteristic of the corresponding system. The sensors sense the
presence or absence of a seed, or sense a characteristic indicative
of a seed spacing interval within the system on which it is
deployed.
[0030] The seed sensors can include a transmitter component and
receiver component. The transmitter component emits electromagnetic
radiation, or light, into the seed metering system or seed delivery
system through a transparent or translucent side wall of the
system. The receiver component then detects the reflected radiation
and generates a signal indicative of the presence or absence of a
seed adjacent to the sensor (e.g., sensor 122) based on the
reflected radiation. Of course, this is just one example of a seed
sensor, and others may be used as well. The seed sensor signal 123,
generated by the seed sensor, is provided back to valve control
system 113, where it can be conditioned (such as amplified,
filtered, linearized, normalized, etc.).
[0031] FIG. 2 also shows that, in one example, a pressure sensor
127 is disposed to sense pressure in valve 109. The pressure sensor
in valve 109 can be a differential pressure which measures the
pressure drop across valve 109, or it can be a pressure sensor that
senses the pressure on the outlet end of valve 109, but upstream of
the distal tip 117 of application assembly 115. That can be
compared to the supply line pressure sensed by pressure sensor 133
(or where there are multiple supply line pressure sensors the
signal from the closest such sensor) to obtain the pressure drop
across the valve 109. Pressure sensor 127 illustratively generates
a pressure sensor signal indicative of the sensed pressure, and
provides that pressure sensor signal to valve control system
113.
[0032] FIG. 3 is a partial pictorial, partial block diagram showing
one example of a self propelled agricultural spraying machine (or
sprayer) 180. Sprayer 180 illustratively includes an engine in
engine compartment 182, an operator in operators compartment 184, a
tank 186, that stores liquid material to be sprayed, and an
articulated boom 188. Boom 188 includes arms 190 and 192 which can
articulate or pivot about points 194 and 196 from a travel/storage
position to a deployed position illustrated in FIG. 3. Agricultural
sprayer 180 is illustratively supported for movement by a set of
traction elements, such as wheels 198. The traction elements can
also be tracks, or other traction elements as well.
[0033] When a spraying operation is to take place, boom arms 190
and 192 articulate outward to the position shown in FIG. 3. Boom
188 carries nozzles 200 that spray material that is pumped from
tank 106 through boom 188 by pumping system 202, onto the field
over which sprayer 180 is traveling. As with row unit 106 shown in
FIG. 2, the flow of liquid material through each of the nozzles 200
is controlled by a corresponding valve 204. In the example
illustrated in FIG. 3, each nozzle 200 has a corresponding valve
204. However, it will be noted that a single valve 204 may control
the passage of material through multiple different nozzles. These
and other architectures and arrangements are contemplated herein.
The valves are controlled by valve control system 113.
[0034] FIG. 3 also shows that sprayer 180 illustratively includes a
boom flow meter 206 and a boom pressure sensor 208. Flow meter 206
illustratively senses a value indicative of the flow of liquid
material from tank 186 through boom 188. In one example, the value
is indicative of the mass flow rate of the liquid material through
boom 188. FIG. 3 also shows that pressure sensor 208 illustratively
senses the pressure within boom 188. Sprayer 180 can have a return
line that returns liquid from boom 188 to tank 186. In that case,
flow meter 207 senses the return flow so the flow of liquid applied
through the nozzles 204 is the difference in flow measured or
sensed by meters 206 and 207. Further, there can be additional boom
pressure sensors along boom 188. For instance, there may be a
pressure drop across boom 188 so that multiple pressure sensors
along boom 188 capture this pressure drop. These and other
arrangements are contemplated herein.
[0035] It will be noted that the various pressure sensors described
herein can be arranged in a number of different ways. For instance,
they can be arranged so that they are referenced to atmospheric
pressure, or they can be arranged as sets of pressure sensors or a
differential pressure sensor, so they can be used to obtain a
differential pressure indicative of the pressure drop across the
valves or across other portions of the agricultural machine that is
delivering the liquid material to the field.
[0036] FIG. 4 is a partial block diagram, partial schematic diagram
showing one example of a portion of sprayer 180, illustrated in
FIG. 3. Some of the items illustrated in FIG. 4 are similar to
those shown in FIG. 3, and they are similarly numbered.
[0037] FIG. 4 shows that a row pressure sensor 210 is disposed
relative to each valve 204 or nozzle 200 (or to an outlet hose
where one is used) on boom 188. Row pressure sensors 210 are
configured so that they provide a signal indicative of the pressure
drop across the valve 200 or the nozzle 204, or the valve/nozzle
combination 200/204 or so that such a value can be derived. By way
of example, it may be that row pressure sensor 210 senses the
pressure at the outlet end of valve 204 and the inlet end of nozzle
200. This pressure can be compared to the boom pressure sensed by
boom pressure sensor 208 (or, where multiple boom pressure sensors
are provided along boom 188, the boom pressure sensor located
closely proximate the row pressure sensor 210 under analysis) in
order to obtain a pressure drop across valve 204. Sensor 210 can
also be referenced to atmospheric pressure in order to obtain a
pressure drop across nozzle 200. Thus, by sampling the row pressure
sensor signal during pulsed operation of valve 204, the value of
the row pressure can be used to determine whether valve 204 is
operating, whether nozzle 200 is clogged or partially clogged, the
duration of the pulses in the pulsed operation of valve 204, the
amount of liquid material that flows through valve 204 and nozzle
200 during each pulse, among other things. These are all described
in greater detail below. In one example, the valves are controlled
so that the liquid material flows through nozzles 200 and is
sprayed (as indicated by arrows 212) onto the field 214 over which
the sprayer is traveling.
[0038] It will be noted that valve control system 113
illustratively generates control signals to control valves 204. The
control signals are illustratively pulsed control signals (such as
pulse width modulated signals) where the amount of time that the
valves 200 are open and closed is determined by the duty cycle of
the pulse width modulated signal). This is just one example and
control system 113 need not control valves 204 with a pulsed
control signal. It will also be appreciated that valve control
system 113 can be similar to, or different from, valve control
system 113 described above with respect to FIGS. 1 and 2. For the
purposes of the present description, it will be assumed that they
are similar, so that only valve control system 113, described with
respect to FIGS. 1 and 2 above, will be described in more
detail.
[0039] FIG. 5 is a block diagram showing one example of valve
control system 113 in more detail. In the example shown in FIG. 5,
valve control system 113 illustratively controls the valves using a
pulsed control signal, so that some items dealing with the pulsed
operation are described. However, where the control signal is not a
pulsed control signal, those items need not be used.
[0040] Valve control system 113 illustratively includes one or more
processors 300, pressure sampling logic 302, orifice identifier
logic 304, row pressure identifying logic 306, row flow rate
identifier logic 308, error/time delay correction logic 310, valve
control signal generator 312, pulsed duration logic 314, pulse
frequency logic 316, control signal generator logic 318, valve
blockage detector 320, data store 321, flow volume detector 322,
seed/chemical correlation logic 324, and it can include other items
326. Seed/chemical correlation logic 324 can include seed
location/pattern identifier 325, pulse frequency controller 327,
pulse duration controller 329 and it can include other items 331.
It will also be noted that, in one example, valve control system
113 can include a communication system 328 and user interface logic
330. In another example, communication system 328 and user
interface logic 330 are items in the operator compartment 184 of
sprayer 180, or in the operator compartment of a towing vehicle
(such as a tractor) that is towing planter 100. In any case, valve
control system 113 may be able to interact with a user interface
332 that can include user input mechanisms 334, output mechanism
336, and it can include other items 338.
[0041] FIG. 5 also shows that, in one example, valve control system
113 can receive the row pressure sensor signals 340 generated by
the row pressure sensors 210 or 127. It can receive boom/supply
line pressure signal(s) 342 that is generated by boom pressure
sensor 208 or supply line pressure sensor 133 and, where multiple
boom or supply line pressure sensors are used, it can receive
signals 342 from each of them. It can receive boom/supply line flow
signal(s) 343 generated by flow sensors (or flow meters) 131, 206
and, where a return line is used, it can receive the flow signals
from meters 135 and 207 as well. It is also shown receiving seed
signal 123.
[0042] Before describing the valve control system 113, and its
operation, in more detail, a number of items in control system 113,
and their operation will first be described.
[0043] Pressure sampling logic 302 illustratively samples the
pressure signals generated by row pressure sensors 210 and boom
pressure sensor(s) 208. In one example, it samples the pressure at
a frequency that is higher than the frequency of the pulse width
modulated signal that is used to control valves 200. Thus, the
pressure drop across the valves can be sampled at the same
frequency as well. In one example, the sampling frequency is high
enough so that the duty cycle of the pulse width modulated signal
that is applied to each valve (or characteristic of the actual
pulse of liquid through the valve--such as pulse duration, pulse
frequency, etc.) can be identified within a threshold amount of
time. For example, it may be that the pressures (or the signals)
are sampled at a rate which is multiple times that of the duty
cycle of the pulse width modulated signal. In one example, the
sampling rate is sufficient so that a pressure signal can be
sampled twice during the active portion of the pulse width
modulated signal. In another example, the sampling frequency is
sufficient so that the pressure signal can be sampled 4 times, 8
times, or more, during the active portion of the duty cycle of the
pulse width modulated signal. With a sufficient sampling rate, the
duration of the pulse of liquid material through the corresponding
valve can be identified with a relatively high degree of accuracy,
as can the beginning and the end of the pulse of liquid. The higher
the sampling frequency, the higher the accuracy with which the
characteristics of the pulse can be identified, and thus, the
higher the accuracy with which the beginning and end of the pulse,
the pulse frequency and pulse duration can be identified.
[0044] Row pressure identifying logic 306 illustratively receives
the row pressure signals 340 and generates a row pressure signal or
value indicative of the row pressure measured by the corresponding
row pressure sensor. This can be the pressure within the body of
the valve 204, or it can be pressure at the outlet end of the valve
(or further down stream toward the outlet end of the application
assembly), so that the pressure drop across the valve can be
identified. By way of example, if the valve is opened and the
pressure at the outlet end of the valve measures at approximately
atmospheric pressure (or at the same level of the other valves or
at another expected level), then this will mean that the nozzle
which is being fed by the valve is unclogged, and is allowing the
liquid material to pass through it and be dispersed on the field.
Thus, the pressure drop across the valve will be indicative of the
value of the boom pressure indicated by the boom pressure sensor
signal(s) 342 less the pressure sensed by the row pressure sensor
being processed. However, if the valve is open, but the row
pressure sensor signal indicates that the measured row pressure is
higher than the expected pressure, this may mean that the
corresponding nozzle is clogged, or partially clogged. Thus, it
will be appreciated that row pressure identifying logic 306 can
identify the actual pressure measured by the row pressure sensor
being processed, or it can identify the pressure drop across the
valve corresponding to the row pressure sensor signal, or both.
These and other architectures are contemplated herein.
[0045] Flow rate identifier logic 308 illustratively receives the
boom/supply line flow signal 340, indicative of the flow rate of
liquid material through the boom or supply line, that is generated
by flow meter 206 or flow meter 131. Where no return line is used,
then these flow signals represent the total flow of liquid applied
to the field. Where a return line is used, then the return flow
signal is also received from meter 135 or 207 so the applied flow
can be determined based on the difference between the flows
measured by the meters. Row flow rate identifier logic 308 divides
the mass flow rate applied by the number of active valves or
nozzles, to identify an average flow rate through each nozzle.
Orifice identifier logic 304 can then identify the average orifice
size for each nozzle based upon the pressure drop across the
corresponding valve, and based upon the average flow rate through
the valve. This can be done using the following equation:
F.sub.V=Valve C.sub.v* {square root over (P.sub.B-P.sub.R)} Eq.
1
[0046] where F.sub.V is the flow rate through a valve;
[0047] Valve C.sub.v is a flow coefficient that represents the
average orifice size of the valves;
[0048] P.sub.B is the boom (or supply line) pressure indicated by
one of boom/supply line pressure signal(s) 342; and
[0049] P.sub.R is the row pressure identified by row pressure
signal 340.
[0050] Error/time delay correction logic 310 illustratively
compares the pulse width modulated control signal that is
controlling the valves to the row pressure signal to identify a
time delay between when the control signal controls the valve to
open or close and when the row pressure signal indicates that the
valve actually opened or closed.
[0051] There may be a time delay for a variety of different
reasons. For instance, it may take more or less time to open or
close the valve based on general valve characteristics (such as
spring strength), the current driver which drives the valve
solenoid, the system pressure, the liquid characteristics, etc.
These parameters can vary, and this can affect application
accuracy, application rate, etc. Logic 310 can identify these
delays in near real time, during operation. It generates error or
delay signals indicative of the errors or delays and provides them
to seed/chemical correlation logic 324. As is described in more
detail below, seed location/pattern identifier 325 can identify
seed location or a pattern indicative of that location. Pulse
frequency controller 327 and pulse duration controller 329 can use
that information, along with the time delays, and can determine
when the valves should be actuated, and for how long, to dispense
the liquid material where desired. Based on the signals from
seed/chemical correlation logic 324, pulsed valve control signal
generator 312 controls the valves to dispense the liquid material
at the seed/plant location (e.g., for fertilizer), between
seed/plant locations (e.g., for herbicide), or elsewhere.
[0052] Before describing that correlation is more detail, it should
be noted that error/delay correction logic 310 also illustratively
compares the flow rate through a particular valve (based upon the
pressure drop across that valve and the calculated orifice size)
and compares it against a target flow rate (which may be identified
based on the boom or supply line flow rate, or the applied flow
rate, divided by the number of nozzles on the system), the system
average flow rate, or it may compare the flow rate across a given
nozzle to the flow rate across other nozzles on the sprayer or
planter. Based upon the comparison, error correction logic 310 may
identify errors introduced because of specific gravity
considerations. It can then generate corrections for specific
gravity of the liquid, when the specific gravity of the liquid is
obtained by error correction logic 310. In one example, an operator
can use user input mechanism 334 to enter the specific gravity of
the liquid. In another example, the identity of the liquid can be
obtained and the specific gravity of that liquid can be obtained
from a remote system, from local memory (e.g., from data store
321), etc.
[0053] Pulse duration logic 314 illustratively identifies the
beginning of the pulse of liquid, the end of the pulse of liquid
and the duration of the pulse of liquid through the valve
corresponding to each row, based upon the sampled row pressure
signals. This was described above. Pulse frequency logic 316
illustratively identifies the frequency of the pulse of liquid
through the valve, as also discussed above.
[0054] Valve blockage detector 320 illustratively identifies valve
blockages based upon the various sensor signals. For instance, as
discussed above, if the pressure drop across a particular valve is
relatively small, even when the valve is open, then this may
indicate that that a nozzle is blocked, or partially blocked. The
pressure drop across a valve may be compared to an expected
pressure drop, to determine whether the nozzle is blocked,
partially blocked, or whether the valve is broken, among other
things. In another example, instead of comparing to an expected
value, the pressure drop across the valve can be compared against
that of other valves. This overcomes effects related to things like
varying viscosity because, at any given time, the valves are all
likely to be subject to similar conditions (which would affect
things like viscosity).
[0055] Flow volume detector 322 illustratively detects the volume
of flow across a particular valve for each activation of the valve.
For instance, if the duration of the active portion of the pulse
width modulated signal is identified by pulse duration logic 314,
and the flow rate through the corresponding valve and nozzle
combination is identified by row flow rate identifier logic 308,
then the volume of liquid material dispensed for each valve
actuation can be identified by flow volume detector 322.
[0056] In addition, logic 308 can identify the flow rate for all
rows. They can be aggregated over some time period and compared to
the applied flow rate over that time period. Any difference can be
used to adapt the flow rate calculation and therefore the pulse
length commands as well. This can be used to deal with viscosity
and other similar unknowns.
[0057] Seed/chemical correlation logic 324 illustratively receives
seed signal 123 and the pulse start, pulse end, and pulse duration
and pulse frequency from logic 314 and 316, respectively, and
generates a signal indicative of whether the liquid is to be
dispensed at the seed/plant locations or between those locations or
elsewhere, and also indicative of when the valve should be
actuated, and for how long, to dispense the liquid at those
locations. It can, for instance, correlated the dispersal of
chemical through a particular nozzle, with the delivery of a seed
through a corresponding row unit. By way of example, if the row
unit illustrated FIG. 2 drops a seed, and the chemical being
delivered by the application assembly is a fertilizer chemical,
then seed/chemical correlation logic 324 correlates the timing
between depositing a seed in the furrow, and the application of
chemical through the pulse width modulated operation of valve 109.
In this way, chemical can be applied in on a per-seed basis which
enhances the efficient application of chemical, where needed.
Further, if the sprayer in FIGS. 3 and 4 is to spray a herbicide
between the plant locations, then logic 324 correlates timing
between actuating the valves and the plant locations. The operation
of seed/chemical correlation logic 324 is described in greater
detail below with respect to FIG. 7.
[0058] Control signal generator logic 318 can illustratively
generate other control signals, based upon the various sensor
signals and values generated. The control signals can be used to
control any of a wide variety of different types of controllable
subsystems, such as the speed of a sprayer or towing vehicle, the
seed delivery system or seed metering system, operator interface
logic 330, or a wide variety of other controllable subsystems.
Also, valve control signal generator 312 can control the actuation
of valves 109, 200.
[0059] FIGS. 6A and 6B (herein after referred to as FIG. 6) show a
flow diagram illustrating one example of the operation of valve
control system 113 in generating control signals based upon the
various sensor inputs. It is first assumed that a spraying system
(or chemical application system) with a valve control system 113 is
operating. This is indicated by block 350 in the flow diagram of
FIG. 6. In one example, the system is deployed on a sprayer 180. In
another example, it is deployed on a planter row unit 106. Further,
it is assumed that the valve control signal generator 312 is
generating pulsed signals to control the various valves through
which the liquid is being applied or sprayed. However, the valves
may be controlled in other ways, where the control signals are not
pulsed, in which case some of the description below regarding
pulsed valve control signals does not apply. The spraying system
can be operational in other ways as well, and this is indicated by
352.
[0060] Boom/supply line pressure identifier logic 305 then detects
the boom pressure from boom/supply line pressure signal(s) 342. The
boom pressure is indicated by PB. Detecting the boom pressure PB is
indicated by block 354 in the flow diagram of FIG. 6. In one
example, it is sensed with the boom pressure sensor 208 or supply
line pressure sensor 131, which generates the sensor signal 342. It
can also be sensed by different boom pressure sensors located at
different locations across boom 188 or supply line 111. This is
indicated by block 356. The boom pressure sensor can be generated
by aggregating sensor values sensed by different sensors. For
instance, one or more of the row pressure sensor signals can be
aggregated to obtain the boom pressure value. This is indicated by
block 358 in the flow diagram of FIG. 6. The boom pressure can be
sensed and identified in other ways as well. This is indicated by
block 360.
[0061] Boom/supply line flow rate identifier logic 307 then detects
the application flow rate (e.g., the flow of liquid from tank 186
or 107 into either boom 188 or supply line 111, respectively. This
is indicated by block 362 in the flow diagram of FIG. 6. This can
be sensed using the central flow meter 206 or supply line flow
meter 131. This is indicated by block 364. In an example in which a
return line is used, the flow through the return line can also be
measured and subtracted from the flow into boom 188 or supply line
111. This is indicated by block 365. It can be sensed in other ways
as well, such as aggregating the flow rate through the various
valves or nozzles that the liquid material is passing through. This
is indicated by block 366.
[0062] Orifice identifier logic 304 then identifies a number of
active valves or nozzles in the system. This is indicated by block
368. In one example, this can be input by the operator using
operator input mechanisms 334. Determining the number of active
valves or nozzles based on an operator or user input is indicated
by block 370 in the flow diagram of FIG. 6. It can be done by
detecting the number of active valves or nozzles automatically. For
instance, when the valves are turned on, the value of the row
pressure sensed by row pressure sensors 210 can be identified to
determine whether fluid is passing through a valve and/or nozzle.
In this way, the number of active valves or nozzles can be
identified automatically. Identifying the number of active valves
automatically is indicated by block 372. The number of active
valves can be identified in other ways as well. This is indicated
by block 374.
[0063] Orifice identifier logic 304 then generates a system orifice
size indicator (C.sub.v) for the spraying system. The system
orifice size indicator C.sub.v will illustratively be an aggregate
of all the orifices of the active nozzles. Generating the system
orifice size indicator C.sub.v is indicated by block 376 in the
flow diagram of FIG. 6.
[0064] In one example, the system orifice indicator is based on the
boom pressure PB and the application flow rate. The boom pressure
PB is illustratively indicated by the sensor signal from boom
pressure sensor 208. The application flow rate is illustratively
indicated by the signal from flow meter 206 (and where a return
line is used, based on the flow rate indicated by meter 207 as
well). Generating C.sub.v based on the boom pressure and
application flow rate is indicated by block 378 in the flow diagram
of FIG. 6. The same can be generated for planter 100 based on the
supply line pressure from sensor 132 and flow valve from flow meter
131 (and possibly flow meter 135). It can be generated in other
ways as well. This is indicated by block 380.
[0065] Orifice identifier logic 304 then identifies a valve orifice
size indicator (Valve C.sub.v) which is indicative of the orifice
size of the valves (or the valve/nozzle combination) on the sprayer
boom. Generating the valve orifice size indicator C.sub.v is
indicated by block 382 in the flow diagram of FIG. 6. In one
example, Valve C.sub.v is based upon the system C.sub.v and the
number of active valves. For instance, the system C.sub.v can be
divided by the number of active valves to obtain a size for each
valve orifice. This is indicated by block 384. The Valve C.sub.v
can be identified in other ways as well. This is indicated by block
386.
[0066] The row pressure identifying logic 306 detects a row
pressure (P.sub.R) for each row. This is indicated by block 388. In
one example, the row pressure is sampled based upon a sampling
frequency indicated by pressure sampling logic 302. The row
pressure can be sampled at a frequency that is greater than the
frequency of the pulsed valve control signal (e.g., the pulse width
modulated valve control signal). This is indicated by block 390.
The row pressures can be sampled by sampling the row pressure
signals 340 from each of the row pressure sensors 210, 127. This is
indicated by block 392. The row pressure, for each row, can be
detected in other ways as well. This is indicated by block 394.
[0067] Row flow rate identifier logic 308 then identifies a valve
flow rate (F.sub.V) for each row. The value F.sub.V will identify
the mass flow rate of an amount of liquid material passing through
the valve when the valve is actuated by the pulse width modulated
control signal. Identifying F.sub.V for each row is indicated by
block 396.
[0068] In one example, F.sub.V can be identified based on P.sub.B,
P.sub.R and valve C.sub.v. For instance, the valve flow rate can be
identified using equation 1 above. This is indicated by block 396.
The valve flow rate can of course be identified in other ways as
well, such as by placing individual flow meters on the valves, or
in other ways. This is indicated by block 400.
[0069] Pulse duration logic 314 then identifies the beginning of
each pulse, the end of each pulse, and the pulse duration (or the
time that the valve is open). This is indicated by block 402. In
one example, the row pressure is monitored so that when the row
pressure changes (indicating that the valve is open) this is
monitored to identify when the pressure indicates that the valve is
opened (the beginning of each pulse). The row pressure is also
monitored to identify when the pressure indicates when the valve is
closed (the end of the pulse). The amount of time between when the
valve opens and when it closes will identify the duration of the
pulsed flow of liquid material through the valve for that pulse.
Thus, in one example, the row pressure is sampled at a high enough
frequency that the beginning and end of the pulse and the pulse
duration can be identified with a desired accuracy. The higher the
sample frequency, the more accurately these pulse characteristics
can be identified. Identifying the pulse beginning and end and the
pulse duration based on a detected variation of P.sub.R is
indicated by block 404. The pulsed duration can be identified in
other ways as well, and this is indicated by block 406.
[0070] Pulse frequency logic 316 then identifies the pulse
frequency. In one example, the pulse frequency is determined based
upon the amount of time between transitions in the pulse width
modulated signal from an inactive state to an active state. The
frequency with which the pulse width modulated signal makes this
transition is illustratively a measure of the pulse frequency,
itself. Identifying the pulse frequency is indicated by block
408.
[0071] As with the pulse duration, in one example, the pulse
frequency can be identified by detecting variations in the row
pressure PR indicating the valve opening and valve closing
transitions. This is indicated by block 410. The pulse frequency
can be identified in other ways as well, and this is indicated by
block 412.
[0072] Valve blockage detector 320 then detects whether a given
valve is blocked. This is indicated by 414. For instance, detector
320 can monitor the row pressure signals 340 for each of the rows
and identify whether the row pressure is changing with the pulse
width modulated control signal (or with ah non-pulsed control
signal). By way of example, if the row pressure remains the same,
regardless of whether the corresponding valve is open or closed,
this may indicate that the valve or nozzle is blocked or broken.
Similarly, the amplitude of the pressure change can be monitored as
well. If the pressure change is only slight, depending on whether
the valve is open or closed, this may indicate that the nozzle is
partially blocked. Detecting a valve or nozzle blockage based upon
the row pressure P.sub.R is indicated by block 416.
[0073] The valve or nozzle blockage can also be detected based upon
the valve flow rate F.sub.V. If the flow rate through the valve is
zero or less than expected, even when the valve is open this may
indicate that the valve or nozzle is fully blocked or partially
blocked. Detecting whether the valve or nozzle is blocked based on
F.sub.V is indicated by block 418.
[0074] Detecting whether the valve or nozzle is blocked or
partially blocked can be done in other ways as well. This is
indicated by block 420.
[0075] Flow volume detector 322 then detects the volume of liquid
flow in the system. This is indicated by block 422. The flow volume
can be detected at a number of different levels. For instance, the
volume of liquid flow at each row (through each valve or
valve/nozzle combination) can be identified. By way of example, it
can be identified based upon the flow rate through each
valve/nozzle combination, and the duty cycle of the control signal
(or the amount of time that the valve is actually open).
Identifying the flow volume on a per row basis is indicated by
block 424.
[0076] In some cases, it may be that a single valve services
multiple nozzles. In that case, the flow volume can be identified
on a per-valve basis. This is indicated by block 426. The flow
volume through a valve or valve/nozzle combination can be
identified over a given period of time (such as the volume of flow
per minute), etc. This is indicated by block 428. In another
example, the flow volume can be identified for each valve actuation
(e.g., the amount of liquid passing through the valve for each
valve actuation can be identified). This is indicated by block 430.
The flow volume can be detected in other ways as well. This is
indicated by block 432.
[0077] Based upon all of the values that are detected and/or
generated, control signal generator logic 318 and valve control
signal generator 312 then illustratively generate control signals
to control the system. This is indicated by block 434.
[0078] Logic 312 can generate a wide variety of different types of
control signals. For instance, it can use seed/chemical correlation
logic 324 to perform valve control based upon seed or plant
location, so that liquid material is sprayed at the location of
each seed or plant, between them, or relative to them in other
ways, etc. This is indicated by block 436. It can perform valve
control to apply a desired quantity when spot spraying. Since the
flow volume is known on a per system and per nozzle basis, then the
valves can be controlled by valve control signal generator 312 to
apply a desired volume at a desired location (such as when spot
spraying for weeds or otherwise). The control can be performed
based on the time delay detected by logic 310 or in other ways as
well. Performing valve control to apply a desired quantity when
spot spraying in indicated by block 438.
[0079] Control signal generator logic 312 can control the machine
based upon blockage detection. For instance, when a blockage of a
particular nozzle or valve is detected, then the control signal for
that valve can be disabled until the blockage is remedied. At the
same time, control signal generator logic 318 can control user
interface logic 330 to raise an alert for the operator. Similarly,
logic 312 can control the frequency of the pulse width modulated
control signal in an attempt to clear the blockage. Control signals
can be generated to control the machine based on blockage detection
in other ways as well. This is indicated by block 440.
[0080] Control signal generator logic 318 can also generate a
control signal and provide it to valve control signal generator 312
so that the pulse width modulated signals are generated to control
the pulse frequency or duration. By way of example, assume that a
sprayer is treating a certain type of plant or weed, and the
application of additional liquid volume may be desired at a
particular point in the field. The pulse frequency or pulse
duration of the pulse width modulated signal can be varied to
adjust the volume of liquid material applied. This is indicated by
block 442.
[0081] In another example, the system may be meant to apply liquid
to a specific spot (e.g., close to the plant). The length of the
spot to which liquid is applied will be dependent on valve
actuations and driving speed. At relatively higher speed, the spot
may be so long that the amount of liquid is not sufficiently
concentrated. Thus, logic 318 can generate a pump control signal to
control the pump that pumps the liquid material to increase
pressure at higher speeds and decrease pressure at lower speeds.
Controlling the pump to adjust pressure based on travel speed is
indicated by block 441. In another example, logic 318 generates
speed control signals to control machine speed to attain the
desired concentration. These can also be done while controlling the
valves as well.
[0082] Control signal generator logic 318 can also generate a
control signal to control user interface logic 330 in various ways.
This is indicated by block 444. By way of example, when a blockage
is detected, a user interface output mechanism 336 can be
controlled to surface this information for the operator. Mechanism
336 may be a visual, audible or haptic output device that is
controlled to alert the operator to a blockage, or a set of
blockages. The user interface logic can be controlled in other way
as well.
[0083] It will be appreciated that a wide variety of other control
signals can be generated. The control signals can be used to
control subsystems of a planter 100, of a towing vehicle, of a self
propelled sprayer 180, or a wide variety of other items. This is
indicated by block 446.
[0084] FIG. 7 is a flow diagram illustrating one example of the
operation of seed/chemical correlation logic 324 in correlating the
application of a liquid chemical with seed or plant location.
Seed/chemical correlation logic 324 first detects the seed/location
indicating the location of a seed/plant. The seed/plant location
can be detected in a variety of different ways. For instance, the
number of seed signals 123 can be detected for a threshold time
period of time by seed location/pattern identifier 325. Identifier
325 can then detect a pattern indicative of seed location. For
example, it may identify that, based on the seed signal 123, and
the speed or location of the planter sensed by a speed sensor or
location sensor (such as a GPS receiver), a seed is being dropped
every 6 inches, beginning at a location identified by the seed
signal 123. Once the pattern is identified, controllers 327 and 329
can control valves 109, 204 to apply the liquid as desired,
relative to the seeds or plants. They can control the pulse of
liquid (its beginning and ending, its frequency and duration) so it
applies the liquid at the seed/plant locations, between those
locations, elsewhere, etc.
[0085] In another example, identifier 325 identifies the seed/plant
location based on the current seed signal 123. For instance, it can
identify seed location by detecting seed presence at the seed
sensor and determining how long it will take for the seed to reach
the ground. Based on that time, logic 327 and 329 can control the
timing, pulse frequency and/or duration, respectively to apply the
liquid material as desired relative to the seed.
[0086] Detecting the seed/plant location is indicated by block 450.
Detecting the location by identifying a pattern is indicated by
block 451. Detecting the seed/plant location from a seed sensor
signal 123 is indicated by block 452. The seed location can be
identified in other ways as well. For instance, if a seed location
map was generated when seeds were planted, that map may be stored
(e.g., remotely or in data store 321) and may identify the
geographical coordinates of the seed/plant locations. Thus, when a
sprayer is traveling over that portion of a field later, it can
obtain the seed location map and identify seed location based upon
that map. When it travels over the field, it can selectively apply
the liquid material based on the seed locations. Detecting seed
location based upon a seed location map is indicated by block
454.
[0087] The seed location can be detected in other ways as well.
This is indicated by block 456.
[0088] Seed/chemical correlation logic 324 then provides an output
to valve control signal generator 312 to generate a correlated,
valve control signal, that is correlated to apply the liquid
material based upon the seed/plant location. This is indicated by
block 458. In doing so, time delay correlation logic 310 identifies
a time delay between when a valve is commanded to open or close and
when it actually opens or closes based on liquid pulse beginning
and ending (as detected by pulse duration logic 314) which is,
itself, based on the variation in the sensed row pressures. This is
indicated by block 455 and it can be done for each valve that is
being controlled. In addition, the time for the liquid to reach the
field after passing through the nozzle can be sensed or estimated
as well. Based on these delays, various parameters of the liquid
pulse can be controlled to correlate the liquid delivery with the
plant location to apply the liquid at a desired location relative
to the plant location. The pulse frequency can be controlled by
pulse frequency controller 327, as indicated by block 457. The
pulse duration can be controlled by pulse duration controller 329,
as indicated by block 459. In one example, the control signal
provided to pulsed valve control signal generator 312 controls
generator 312 to generate the pulse width modulated signal in order
to synchronize the application of the liquid substance to the
seed/plant location. This is indicated by block 460. In another
example, the control signals are also generated, and timed, to
apply a desired amount of the liquid material per seed. This is
indicated by block 462. By way of example, once the flow rate
through each nozzle or valve is known, timing and the duration of
the pulse width modulated signal can be varied to apply a desired
amount of material relative to a known seed/plant location. For
instance, a small amount of material may be applied on either side
of the seed while a relatively large amount of the material is
applied at the same location of the seed. This is just one example.
Also, the pulse width modulated signal can be generated to apply
the liquid between (or to the side of or otherwise offset from) the
seed/plant locations. This is indicated by block 461. Similarly,
the machine speed and/or pump pressure (e.g., pump displacement,
etc.) can also be controlled to apply a desired amount at a desired
spot. This is indicated by block 463. Generating a correlated
pulsed valve control signal, that is correlated to seed location,
can be performed in other ways as well. This is indicated by block
464.
[0089] FIG. 8 is a block diagram of an architecture in which
machines are disposed in a remote server (or cloud computing)
architecture 500. Cloud computing provides computation, software,
data access, and storage services that do not require end-user
knowledge of the physical location or configuration of the system
that delivers the services. In various examples, cloud computing
delivers the services over a wide area network, such as the
internet, using appropriate protocols. For instance, cloud
computing providers deliver applications over a wide area network
and they can be accessed through a web browser or any other
computing component. Software or components of architecture 500 as
well as the corresponding data, can be stored on servers at a
remote location. The computing resources in a cloud computing
environment can be consolidated at a remote data center location or
they can be dispersed. Cloud computing infrastructures can deliver
services through shared data centers, even though they appear as a
single point of access for the user. Thus, the components and
functions described herein can be provided from a service provider
at a remote location using a cloud computing architecture.
Alternatively, they can be provided from a conventional server, or
they can be installed on client devices directly, or in other
ways.
[0090] The description is intended to include both public cloud
computing and private cloud computing. Cloud computing (both public
and private) provides substantially seamless pooling of resources,
as well as a reduced need to manage and configure underlying
hardware infrastructure.
[0091] A public cloud is managed by a vendor and typically supports
multiple consumers using the same infrastructure. Also, a public
cloud, as opposed to a private cloud, can free up the end users
from managing the hardware. A private cloud may be managed by the
organization itself and the infrastructure is typically not shared
with other organizations. The organization still maintains the
hardware to some extent, such as installations and repairs,
etc.
[0092] In the example shown in FIG. 8, some items are similar to
those shown in previous Figures and they are similarly numbered.
FIG. 8 specifically shows that the machines 100, 180 can
communicate (by using communication system 428 in pulsing valve
control system 113) with one or remote systems 504 located in cloud
502 (which can be public, private, or a combination where portions
are public while others are private).
[0093] FIG. 8 also depicts another example of a cloud architecture.
FIG. 8 shows that it is also contemplated that some components 430
of pulsing valve control system 113 can be disposed in cloud 502
while others are not. By way of example, data store 321 can be
disposed outside of cloud 502, and accessed through cloud 502. In
one example, data store 321 can include historical data 470, one or
more seed maps 472, liquid characteristics 474 (such as viscosity
or specific gravity characteristics, etc.), desired application
data 476 (such as desired amounts, where to apply relative to plant
location, etc.), and it can include other data 478. Regardless of
where they are located, they can be accessed directly by machines
100, 180, through a network (either a wide area network or a local
area network), they can be hosted at a remote site by a service, or
they can be provided as a service through a cloud or accessed by a
connection service that resides in the cloud. All of these
architectures are contemplated herein.
[0094] It will also be noted that architecture 500, or portions of
it, can be disposed on a wide variety of different devices. Some of
those devices include servers, desktop computers, laptop computers,
tablet computers, or other mobile devices, such as palm top
computers, cell phones, smart phones, multimedia players, personal
digital assistants, etc.
[0095] FIG. 9 is one example of a computing environment in which
architecture 100, or parts of it, (for example) can be deployed.
With reference to FIG. 9, an example system for implementing some
examples includes a general-purpose computing device in the form of
a computer 810. Components of computer 810 may include, but are not
limited to, a processing unit 820 (which can comprise processors or
servers from previous FIGS.), a system memory 830, and a system bus
821 that couples various system components including the system
memory to the processing unit 820. The system bus 821 may be any of
several types of bus structures including a memory bus or memory
controller, a peripheral bus, and a local bus using any of a
variety of bus architectures. By way of example, and not
limitation, such architectures include Industry Standard
Architecture (ISA) bus, Micro Channel Architecture (MCA) bus,
Enhanced ISA (EISA) bus, Video Electronics Standards Association
(VESA) local bus, and Peripheral Component Interconnect (PCI) bus
also known as Mezzanine bus. Memory and programs described with
respect to FIG. 5 can be deployed in corresponding portions of FIG.
9.
[0096] Computer 810 typically includes a variety of computer
readable media. Computer readable media can be any available media
that can be accessed by computer 810 and includes both volatile and
nonvolatile media, removable and non-removable media. By way of
example, and not limitation, computer readable media may comprise
computer storage media and communication media. Computer storage
media is different from, and does not include, a modulated data
signal or carrier wave. It includes hardware storage media
including both volatile and nonvolatile, removable and
non-removable media implemented in any method or technology for
storage of information such as computer readable instructions, data
structures, program modules or other data. Computer storage media
includes, but is not limited to, RAM, ROM, EEPROM, flash memory or
other memory technology, CD-ROM, digital versatile disks (DVD) or
other optical disk storage, magnetic cassettes, magnetic tape,
magnetic disk storage or other magnetic storage devices, or any
other medium which can be used to store the desired information and
which can be accessed by computer 810. Communication media
typically embodies computer readable instructions, data structures,
program modules or other data in a transport mechanism and includes
any information delivery media. The term "modulated data signal"
means a signal that has one or more of its characteristics set or
changed in such a manner as to encode information in the signal. By
way of example, and not limitation, communication media includes
wired media such as a wired network or direct-wired connection, and
wireless media such as acoustic, RF, infrared and other wireless
media. Combinations of any of the above should also be included
within the scope of computer readable media.
[0097] The system memory 830 includes computer storage media in the
form of volatile and/or nonvolatile memory such as read only memory
(ROM) 831 and random access memory (RAM) 832. A basic input/output
system 833 (BIOS), containing the basic routines that help to
transfer information between elements within computer 810, such as
during start-up, is typically stored in ROM 831. RAM 832 typically
contains data and/or program modules that are immediately
accessible to and/or presently being operated on by processing unit
820. By way of example, and not limitation, FIG. 9 illustrates
operating system 834, application programs 835, other program
modules 836, and program data 837.
[0098] The computer 810 may also include other
removable/non-removable volatile/nonvolatile computer storage
media. By way of example only, FIG. 9 illustrates a hard disk drive
841 that reads from or writes to non-removable, nonvolatile
magnetic media, and an optical disk drive 855 that reads from or
writes to a removable, nonvolatile optical disk 856 such as a CD
ROM or other optical media. Other removable/non-removable,
volatile/nonvolatile computer storage media that can be used in the
exemplary operating environment include, but are not limited to,
magnetic tape cassettes, flash memory cards, digital versatile
disks, digital video tape, solid state RAM, solid state ROM, and
the like. The hard disk drive 841 is typically connected to the
system bus 821 through a non-removable memory interface such as
interface 840, and optical disk drive 855 are typically connected
to the system bus 821 by a removable memory interface, such as
interface 850.
[0099] Alternatively, or in addition, the functionality described
herein can be performed, at least in part, by one or more hardware
logic components. For example, and without limitation, illustrative
types of hardware logic components that can be used include
Field-programmable Gate Arrays (FPGAs), Application-specific
Integrated Circuits (ASICs), Application-specific Standard Products
(ASSPs), System-on-a-chip systems (SOCs), Complex Programmable
Logic Devices (CPLDs), etc.
[0100] The drives and their associated computer storage media
discussed above and illustrated in FIG. 9, provide storage of
computer readable instructions, data structures, program modules
and other data for the computer 810. In FIG. 9, for example, hard
disk drive 841 is illustrated as storing operating system 844,
application programs 845, other program modules 846, and program
data 847. Note that these components can either be the same as or
different from operating system 834, application programs 835,
other program modules 836, and program data 837. Operating system
844, application programs 845, other program modules 846, and
program data 847 are given different numbers here to illustrate
that, at a minimum, they are different copies.
[0101] A user may enter commands and information into the computer
810 through input devices such as a keyboard 862, a microphone 863,
and a pointing device 861, such as a mouse, trackball or touch pad.
Other input devices (not shown) may include a joystick, game pad,
satellite dish, scanner, or the like. These and other input devices
are often connected to the processing unit 820 through a user input
interface 860 that is coupled to the system bus, but may be
connected by other interface and bus structures, such as a parallel
port, game port or a universal serial bus (USB). A visual display
891 or other type of display device is also connected to the system
bus 821 via an interface, such as a video interface 890. In
addition to the monitor, computers may also include other
peripheral output devices such as speakers 897 and printer 896,
which may be connected through an output peripheral interface
895.
[0102] The computer 810 is operated in a networked environment
using logical connections to one or more remote computers, such as
a remote computer 880. The remote computer 880 may be a personal
computer, a hand-held device, a server, a router, a network PC, a
peer device or other common network node, and typically includes
many or all of the elements described above relative to the
computer 810. The logical connections depicted in FIG. 9 include a
local area network (LAN) 871 and a wide area network (WAN) 873, but
may also include other networks such as a controller area network
(CAN) or others. Such networking environments are commonplace in
offices, enterprise-wide computer networks, intranets and the
Internet.
[0103] When used in a LAN networking environment, the computer 810
is connected to the LAN 871 through a network interface or adapter
870. When used in a WAN networking environment, the computer 810
typically includes a modem 872 or other means for establishing
communications over the WAN 873, such as the Internet. The modem
872, which may be internal or external, may be connected to the
system bus 821 via the user input interface 860, or other
appropriate mechanism. In a networked environment, program modules
depicted relative to the computer 810, or portions thereof, may be
stored in the remote memory storage device. By way of example, and
not limitation, FIG. 9 illustrates remote application programs 885
as residing on remote computer 880. It will be appreciated that the
network connections shown are exemplary and other means of
establishing a communications link between the computers may be
used. It should also be noted that the different embodiments
described herein can be combined in different ways. That is, parts
of one or more embodiments can be combined with parts of one or
more other embodiments. All of this is contemplated herein.
[0104] Example 1 is an agricultural machine, comprising:
[0105] a liquid reservoir that stores liquid to be applied to a
field over which the agricultural machine is traveling;
[0106] a supply line that defines a supply conduit;
[0107] a plurality of valves disposed along the supply line, each
valve having an inlet end and an outlet end and being controlled to
move between an open position and a closed position by a pulsed
control signal;
[0108] a pump system that pumps the liquid from the liquid
reservoir along the supply line to the inlet ends of the
valves;
[0109] a plurality of nozzles, at least one nozzle corresponding to
each valve so that when the corresponding valve is open, the liquid
flows through the valve to the corresponding nozzle;
[0110] a plurality of row pressure sensors each sensing pressure at
the outlet end of one of the plurality of valves and generating a
corresponding row pressure signal indicative of the sensed
pressure;
[0111] pulse characteristic sensing logic that receives the row
pressure signal from each row pressure sensor and identifies a
pulse characteristic indicative of a liquid pulse provided by the
corresponding valve in the open position and generates a valve
pulse characteristic signal indicative of the pulse characteristic;
and
[0112] a pulsed valve control signal generator that generates the
pulsed control signal based on the valve pulse characteristic
signal.
[0113] Example 2 is the agricultural machine of any or all previous
examples and further comprising:
[0114] time delay logic configured to receive the pulsed control
signal and the valve pulse characteristic signal and identify an
open time delay between the pulsed control signal generating a
valve open signal controlling the valve to open and the valve pulse
characteristic signal indicating that the valve is in the open
position.
[0115] Example 3 is the agricultural machine of any or all previous
examples wherein the time delay logic is configured to receive the
pulsed control signal and the valve pulse characteristic signal and
identify a close time delay between the pulsed control signal
generating a valve close signal controlling the valve to close and
the valve pulse characteristic signal indicating that the valve is
in the closed position.
[0116] Example 4 is the agricultural machine of any or all previous
examples and further comprising:
[0117] seed/chemical correlation logic configured to identify plant
location in the field and control timing of the pulsed control
signal based on the identified plant location.
[0118] Example 5 is the agricultural machine of any or all previous
examples wherein the seed/chemical correlation logic comprises:
[0119] a valve control signal generator configured to generate a
pulse control signal to control a timing characteristic of the
pulsed control signal based on the plant locations in the field
over which the agricultural machine is traveling, the open time
delay and the close time delay.
[0120] Example 6 is the agricultural machine of any or all previous
examples wherein the seed/chemical correlation logic comprises:
[0121] a pulse frequency controller configured to generate a pulse
frequency control signal to control a frequency of the pulsed
control signal based on the plant locations in the field over which
the agricultural machine is traveling, the open time delay and the
close time delay.
[0122] Example 7 is the agricultural machine of any or all previous
examples wherein the seed/chemical correlation logic comprises:
[0123] a pulse duration controller configured to generate a pulse
duration control signal to control a pulse duration of the pulsed
control signal based on the plant locations in the field over which
the agricultural machine is traveling, the open time delay and the
close time delay.
[0124] Example 8 is the agricultural machine of any or all previous
examples wherein the seed/chemical correlation logic is configured
to correlate the pulsed control signal with the plant locations to
apply the liquid material between the plant locations.
[0125] Example 9 is the agricultural machine of any or all previous
examples wherein the seed/chemical correlation logic is configured
to synchronize the pulsed control signal with the plant locations
to apply the liquid material at the plant locations.
[0126] Example 10 is the agricultural machine of any or all
previous examples and further comprising:
[0127] valve row flowrate identifier logic configured to identify a
valve row flowrate for each valve based on a valve orifice size and
the row pressure signal from the corresponding row pressure
sensor.
[0128] Example 11 is the agricultural machine any or all previous
examples wherein the seed/chemical correlation logic is configured
to synchronize the pulsed control signal with the plant locations
to apply a desired amount of the liquid material based on the valve
flow rate.
[0129] Example 12 is the agricultural machine of any or all
previous examples wherein the seed/chemical correlation logic is
configured to generate a pump control signal to control liquid
pressure based on a travel speed of the agricultural machine to
apply a desired amount of the liquid material.
[0130] Example 13 is the agricultural machine of any or all
previous examples and further comprising:
[0131] a supply line pressure sensor configured to identify
pressure in the supply conduit and generate a supply line pressure
signal indicative of the sensed pressure in the supply conduit;
and
[0132] row pressure identifying logic configured to identify a
pressure drop across a given valve based on the row pressure signal
and the supply line pressure signal.
[0133] Example 14 is the agricultural machine of any or all
previous examples wherein the supply line pressure sensor
comprises:
[0134] a plurality of supply line pressure sensors, the row
pressure identifying logic identifying the pressure drop across the
given valve based on the row pressure sensor signal and a supply
line pressure signal generated from a closest one of the supply
line pressure sensors to the row pressure sensor.
[0135] Example 15 is the agricultural machine of any or all
previous examples and further comprising:
[0136] a valve blockage detector configured to identify a valve
blockage condition for the given valve based on the pressure drop
across the given valve.
[0137] Example 16 is the agricultural machine of any or all
previous examples and further comprising:
[0138] a seed sensor configured to sense seed presence during a
planting operation and generate a seed signal indicative of the
sensed seed presence.
[0139] Example 17 is the agricultural machine of any or all
previous examples wherein the seed/chemical correlation logic
comprises:
[0140] a seed location identifier configured to identify the plant
location in the field based on the seed signal.
[0141] Example 18 is the agricultural machine of any or all
previous examples wherein the seed/chemical correlation logic
comprises:
[0142] a seed pattern identifier configured to identify a seeding
pattern indicative of the plant location based on the seed
signal.
[0143] Example 19 is an agricultural machine, comprising:
[0144] a liquid reservoir that stores liquid to be applied to a
field over which the agricultural machine is traveling;
[0145] a supply line that defines a supply conduit;
[0146] a plurality of valves disposed along the supply line, each
valve having an inlet end and an outlet end and being controlled to
move between an open position and a closed position by a pulsed
control signal;
[0147] a pump system that pumps the liquid from the liquid
reservoir along the supply line to the inlet ends of the
valves;
[0148] a plurality of nozzles, at least one nozzle corresponding to
each valve so that when the corresponding valve is open, the liquid
flows through the valve to the corresponding nozzle;
[0149] a plurality of row pressure sensors each sensing pressure at
the outlet end of one of the plurality of valves and generating a
corresponding row pressure signal indicative of the sensed
pressure;
[0150] seed/chemical correlation logic configured to identify plant
locations in the field and correlate the pulsed control signal with
the plant locations to apply a desired amount of the liquid
material based on the row pressure signals and the plant
locations.
[0151] Example 20 is a method of controlling an agricultural
machine, comprising:
[0152] pumping liquid from a liquid reservoir along a supply line,
that forms a supply conduit, to inlet ends of a plurality of valves
disposed along the supply line;
[0153] controlling the plurality of valves to move between an open
position, in which the valves provide the liquid to a corresponding
nozzle, and a closed position using a pulsed control signal, to
apply the liquid to a field over which the agricultural machine is
traveling;
[0154] sensing pressure at the outlet end of each of the plurality
of valves;
[0155] generating a corresponding row pressure signal indicative of
the sensed pressure;
[0156] identifying a pulse characteristic indicative of a
characteristic of a liquid pulse generated by the corresponding
valve being in the open position, based on the row pressure
signal;
[0157] generating a valve pulse characteristic signal indicative of
the pulse characteristic; and
[0158] generating the pulsed control signal based on the valve
pulse characteristic signal.
[0159] Although the subject matter has been described in language
specific to structural features and/or methodological acts, it is
to be understood that the subject matter defined in the appended
claims is not necessarily limited to the specific features or acts
described above. Rather, the specific features and acts described
above are disclosed as example forms of implementing the
claims.
* * * * *